Self-Driving Car Engineer Capstone project: Driving Carla!

Team Members

Joseph Januszkiewicz (Team Lead)

Darien Martinez

Alberto Vigata

Moses Gaspard

Original README Below

This is the project repo for the final project of the Udacity Self-Driving Car Nanodegree: Programming a Real Self-Driving Car. For more information about the project, see the project introduction here.

Native Installation

Docker Installation

Install Docker

Build the docker container

docker build . -t capstone

Run the docker file

docker run -p 4567:4567 -v $PWD:/capstone -v /tmp/log:/root/.ros/ --rm -it capstone


  1. Clone the project repository
    git clone
  2. Install python dependencies
    cd CarND-Capstone
    pip install -r requirements.txt
  3. Make and run styx
    cd ros
    source devel/
    roslaunch launch/styx.launch
  4. Run the simulator

Real world testing

  1. Download training bag that was recorded on the Udacity self-driving car (a bag demonstraing the correct predictions in autonomous mode can be found here)
  2. Unzip the file
  3. Play the bag file
    rosbag play -l traffic_light_bag_files/loop_with_traffic_light.bag
  4. Launch your project in site mode
    cd CarND-Capstone/ros
    roslaunch launch/site.launch
  5. Confirm that traffic light detection works on real life images